3D Object Detection Classification Calibration on nuScenes v1.0-trainval (val)
63.81NDSTCD
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| TCDBackbone=SECOND, Calibration Type=Train-time2026.05 | 63.81 | 18.182 | 18.869 | 54.37 | — | |
| TCDDetector=SECOND, Calib. Type=Train-time2026.05 | 63.81 | — | 18.869 | 54.37 | 28.696 | |
| DA-TSBackbone=SECOND, Calibration Type=Density-aware, Scope=Global2026.05 | 63.65 | 9.676 | 15.185 | 54.36 | — | |
| DA-TSBackbone=SECOND, Calibration Type=Density-aware, Scope=Class-wise2026.05 | 63.65 | 7.351 | 13.237 | 54.36 | — | |
| DA-PSBackbone=SECOND, Calibration Type=Density-aware, Scope=Global2026.05 | 63.65 | 9.628 | 15.043 | 54.36 | — | |
| DA-PSBackbone=SECOND, Calibration Type=Density-aware, Scope=Class-wise2026.05 | 63.65 | 2.224 | — | — | — | |
| DA-IRBackbone=SECOND, Calibration Type=Density-aware, Scope=Global2026.05 | 63.65 | 5.217 | 10.982 | 54.36 | — | |
| DA-IRBackbone=SECOND, Calibration Type=Density-aware, Scope=Class-wise2026.05 | 63.65 | 1.839 | 8.877 | 54.36 | — | |
| DA-TSDetector=SECOND, Calib. Type=Density-aware, Calibration Level=Global2026.05 | 63.65 | — | 15.185 | 54.36 | 23.046 | |
| DA-TSDetector=SECOND, Calib. Type=Density-aware, Calibration Level=Class-wise2026.05 | 63.65 | — | 13.237 | 54.36 | 21.796 | |
| DA-PSDetector=SECOND, Calib. Type=Density-aware, Calibration Level=Global2026.05 | 63.65 | — | 15.043 | 54.36 | 22.668 | |
| DA-PSDetector=SECOND, Calib. Type=Density-aware, Calibration Level=Class-wise2026.05 | 63.65 | — | — | — | 18.107 | |
| DA-IRDetector=SECOND, Calib. Type=Density-aware, Calibration Level=Global2026.05 | 63.65 | — | 10.982 | 54.36 | 18.872 | |
| DA-IRDetector=SECOND, Calib. Type=Density-aware, Calibration Level=Class-wise2026.05 | 63.65 | — | 8.877 | 54.36 | 17.607 | |
| TSBackbone=SECOND, Calibration Type=Post-hoc, Scope=Global2026.05 | 63.58 | 10.05 | 16.194 | 54.53 | — | |
| TSBackbone=SECOND, Calibration Type=Post-hoc, Scope=Class-wise2026.05 | 63.58 | 7.818 | 13.968 | 54.53 | — | |
| PSBackbone=SECOND, Calibration Type=Post-hoc, Scope=Global2026.05 | 63.58 | 10.092 | 15.81 | 54.53 | — | |
| PSBackbone=SECOND, Calibration Type=Post-hoc, Scope=Class-wise2026.05 | 63.58 | 2.311 | 9.076 | 54.53 | — | |
| IRBackbone=SECOND, Calibration Type=Post-hoc, Scope=Global2026.05 | 63.58 | 9.9 | 15.642 | 54.53 | — | |
| IRBackbone=SECOND, Calibration Type=Post-hoc, Scope=Class-wise2026.05 | 63.58 | 1.867 | 9.078 | 54.53 | — | |
| TSDetector=SECOND, Calib. Type=Post-hoc, Calibration Level=Global2026.05 | 63.58 | — | 16.194 | 54.53 | 23.175 | |
| TSDetector=SECOND, Calib. Type=Post-hoc, Calibration Level=Class-wise2026.05 | 63.58 | — | 13.968 | 54.53 | 21.985 | |
| PSDetector=SECOND, Calib. Type=Post-hoc, Calibration Level=Global2026.05 | 63.58 | — | 15.81 | 54.53 | 22.932 | |
| PSDetector=SECOND, Calib. Type=Post-hoc, Calibration Level=Class-wise2026.05 | 63.58 | — | 9.076 | 54.53 | 18.283 | |
| IRDetector=SECOND, Calib. Type=Post-hoc, Calibration Level=Global2026.05 | 63.58 | — | 15.642 | 54.53 | 22.591 | |
| IRDetector=SECOND, Calib. Type=Post-hoc, Calibration Level=Class-wise2026.05 | 63.58 | — | 9.078 | 54.53 | 18.14 | |
| UncalibratedBackbone=SECOND, Calibration Type=None2026.05 | 63.57 | 15.509 | 17.378 | 54.53 | — | |
| Uncal.Detector=SECOND, Calib. Type=None2026.05 | 63.57 | — | 17.378 | 54.53 | 27.136 | |
| CalDETRBackbone=SECOND, Calibration Type=Train-time2026.05 | 63.17 | 15.45 | 19.906 | 53.57 | — | |
| CalDETRDetector=SECOND, Calib. Type=Train-time2026.05 | 63.17 | — | 19.906 | 53.57 | 27.874 | |
| DEBackbone=SECOND, Calibration Type=Sample-based2026.05 | 62.36 | 15.997 | 19.635 | 50.83 | — | |
| DEDetector=SECOND, Calib. Type=Sample-based2026.05 | 62.36 | — | 19.635 | 50.83 | 29.563 | |
| MCDBackbone=SECOND, Calibration Type=Sample-based2026.05 | 62.3 | 16.517 | 19.523 | 51.8 | — | |
| MCDDetector=SECOND, Calib. Type=Sample-based2026.05 | 62.3 | — | 19.523 | 51.8 | 28.792 | |
| UncalibratedBackbone=PETR, Calibration Type=None2026.05 | 45.05 | 8.556 | 27.211 | 38.25 | — | |
| TCDBackbone=PETR, Calibration Type=Train-time2026.05 | 45.05 | 9.567 | 24.533 | 38.27 | — | |
| Uncal.Detector=PETR, Calib. Type=None2026.05 | 45.05 | — | 27.211 | 38.25 | 32.029 | |
| TCDDetector=PETR, Calib. Type=Train-time2026.05 | 45.05 | — | 24.533 | 38.27 | 28.837 | |
| TSBackbone=PETR, Calibration Type=Post-hoc, Scope=Global2026.05 | 45.04 | 7.859 | 26.115 | 38.26 | — | |
| TSBackbone=PETR, Calibration Type=Post-hoc, Scope=Class-wise2026.05 | 45.04 | 5.312 | 24.66 | 38.26 | — | |
| PSBackbone=PETR, Calibration Type=Post-hoc, Scope=Global2026.05 | 45.04 | 7.752 | 25.686 | 38.26 | — | |
| PSBackbone=PETR, Calibration Type=Post-hoc, Scope=Class-wise2026.05 | 45.04 | 3.996 | 22.782 | 38.26 | — | |
| IRBackbone=PETR, Calibration Type=Post-hoc, Scope=Global2026.05 | 45.04 | 7.451 | 25.753 | 38.26 | — | |
| IRBackbone=PETR, Calibration Type=Post-hoc, Scope=Class-wise2026.05 | 45.04 | 2.999 | 22.869 | 38.26 | — | |
| TSDetector=PETR, Calib. Type=Post-hoc, Calibration Level=Global2026.05 | 45.04 | — | 26.115 | 38.26 | 31.156 | |
| TSDetector=PETR, Calib. Type=Post-hoc, Calibration Level=Class-wise2026.05 | 45.04 | — | 24.66 | 38.26 | 29.916 | |
| PSDetector=PETR, Calib. Type=Post-hoc, Calibration Level=Global2026.05 | 45.04 | — | 25.686 | 38.26 | 30.77 | |
| PSDetector=PETR, Calib. Type=Post-hoc, Calibration Level=Class-wise2026.05 | 45.04 | — | 22.782 | 38.26 | 28.504 | |
| IRDetector=PETR, Calib. Type=Post-hoc, Calibration Level=Global2026.05 | 45.04 | — | 25.753 | 38.26 | 30.534 | |
| IRDetector=PETR, Calib. Type=Post-hoc, Calibration Level=Class-wise2026.05 | 45.04 | — | 22.869 | 38.26 | 28.487 | |
| DA-TSBackbone=PETR, Calibration Type=Density-aware, Scope=Global2026.05 | 45.03 | 7.688 | 24.831 | 38.36 | — | |
| DA-TSBackbone=PETR, Calibration Type=Density-aware, Scope=Class-wise2026.05 | 45.03 | 5.772 | 24.185 | 38.36 | — | |
| DA-PSBackbone=PETR, Calibration Type=Density-aware, Scope=Global2026.05 | 45.03 | 7.598 | 24.96 | 38.36 | — | |
| DA-PSBackbone=PETR, Calibration Type=Density-aware, Scope=Class-wise2026.05 | 45.03 | 3.899 | 22.393 | 38.36 | — | |
| DA-IRBackbone=PETR, Calibration Type=Density-aware, Scope=Global2026.05 | 45.03 | 7.209 | 24.015 | 38.36 | — | |
| DA-IRBackbone=PETR, Calibration Type=Density-aware, Scope=Class-wise2026.05 | 45.03 | 2.955 | 22.55 | 38.36 | — | |
| DA-TSDetector=PETR, Calib. Type=Density-aware, Calibration Level=Global2026.05 | 45.03 | — | 24.831 | 38.36 | 30.145 | |
| DA-TSDetector=PETR, Calib. Type=Density-aware, Calibration Level=Class-wise2026.05 | 45.03 | — | 24.185 | 38.36 | 29.546 | |
| DA-PSDetector=PETR, Calib. Type=Density-aware, Calibration Level=Global2026.05 | 45.03 | — | 24.96 | 38.36 | 30.086 | |
| DA-PSDetector=PETR, Calib. Type=Density-aware, Calibration Level=Class-wise2026.05 | 45.03 | — | 22.393 | 38.36 | 28.104 | |
| DA-IRDetector=PETR, Calib. Type=Density-aware, Calibration Level=Global2026.05 | 45.03 | — | 24.015 | 38.36 | 29.226 | |
| DA-IRDetector=PETR, Calib. Type=Density-aware, Calibration Level=Class-wise2026.05 | 45.03 | — | 22.55 | 38.36 | 28.16 | |
| CalDETRBackbone=PETR, Calibration Type=Train-time2026.05 | 44.28 | 9.264 | 30.089 | 37.12 | — | |
| CalDETRDetector=PETR, Calib. Type=Train-time2026.05 | 44.28 | — | 30.089 | 37.12 | 34.304 | |
| MCDBackbone=PETR, Calibration Type=Sample-based2026.05 | 44.23 | 9.487 | 30.11 | 36.9 | — | |
| MCDDetector=PETR, Calib. Type=Sample-based2026.05 | 44.23 | — | 30.11 | 36.9 | 33.988 | |
| DEBackbone=PETR, Calibration Type=Sample-based2026.05 | 43.39 | 9.091 | 32.754 | 33.2 | — | |
| DEDetector=PETR, Calib. Type=Sample-based2026.05 | 43.39 | — | 32.754 | 33.2 | 35.338 |